Tool

class compas_fab.robots.Tool(visual, frame_in_tool0_frame, collision=None, name='attached_tool')[source]

Bases: object

Represents a tool to be attached to the robot’s flange.

visual

The visual mesh of the tool.

Type: compas.datastructures.Mesh

frame

The frame of the tool in tool0 frame.

Type: compas.geometry.Frame

collision

The collision mesh representation of the tool.

Type: compas.datastructures.Mesh

name

The name of the Tool. Defaults to ‘attached_tool’.

Type: str

Examples

>>> mesh = Mesh.from_stl(compas_fab.get('planning_scene/cone.stl'))
>>> frame = Frame([0.14, 0, 0], [0, 1, 0], [0, 0, 1])
>>> tool = Tool(mesh, frame)

Methods

`__init__`(visual, frame_in_tool0_frame[, …])	Initialize self.
`from_data`(data)	Construct a Tool from its data representation.
`from_json`(filepath)	Construct a Tool from the data contained in a JSON file.
`to_json`(filepath)	Serialise the data dictionary representing the tool to JSON and store in a file.

Attributes

`collision`	The collision mesh representation of the tool.
`collision_mesh`	Returns the collision mesh of the tool.
`data`	Returns the data dictionary that represents the tool.

__init__(visual, frame_in_tool0_frame, collision=None, name='attached_tool')[source]: Initialize self. See help(type(self)) for accurate signature.